From 542b4f40667389c6b9b6ec3b09df1d982bbec94a Mon Sep 17 00:00:00 2001 From: liejiu946 Date: Mon, 17 Mar 2025 15:18:42 +0800 Subject: [PATCH] =?UTF-8?q?opt:=201.=E6=96=B0=E5=A2=9Endc=E7=AB=AF?= =?UTF-8?q?=E5=8F=A3=E6=9C=8D=E5=8A=A1=EF=BC=8C=E5=8C=BA=E5=88=86=E4=B8=8A?= =?UTF-8?q?=E6=8A=A5=E7=9A=84=E4=BB=BB=E5=8A=A1=E5=92=8C=E7=8A=B6=E6=80=81?= =?UTF-8?q?=202.=E4=B8=8A=E6=8A=A5=E4=BB=BB=E5=8A=A1=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E6=97=B6=E5=A2=9E=E5=8A=A0=E8=B5=B7=E7=82=B9=E7=BB=88=E7=82=B9?= =?UTF-8?q?=203.=E8=BD=A6=E8=BE=86=E6=89=A7=E8=A1=8C=E4=B8=AD=E6=97=B6?= =?UTF-8?q?=E4=B8=8A=E6=8A=A5=E8=BD=A6=E5=8F=B7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/java/org/nl/acs/AcsConfig.java | 2 + .../run/OneNDCSocketConnectionAutoRun.java | 39 +- .../run/TwoNDCSocketConnectionAutoRun.java | 326 ++++++++ .../agv/ndcone/AgvNdcOneDeviceDriver.java | 706 +++++++++++++++++- .../FeedBackTaskStatusRequest.java | 10 + .../task/service/impl/TaskServiceImpl.java | 6 + 6 files changed, 1057 insertions(+), 32 deletions(-) create mode 100644 nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java diff --git a/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java b/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java index f9ba028..df0f12d 100644 --- a/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java +++ b/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java @@ -18,6 +18,8 @@ public interface AcsConfig { String AGVURL = "agvurl"; //AGV系统端口 String AGVPORT = "agvport"; + //AGV2系统端口 + String AGVPORT2 = "agvport2"; //rgv系统接口地址 String RGVURL = "rgvurl"; //RGV系统端口 diff --git a/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java index 7be31e5..0cb5324 100644 --- a/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java +++ b/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java @@ -2,6 +2,7 @@ package org.nl.acs.auto.run; import cn.hutool.core.util.ObjectUtil; import lombok.extern.slf4j.Slf4j; +import org.apache.commons.lang3.ArrayUtils; import org.nl.acs.AcsConfig; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.device.domain.Device; @@ -30,6 +31,7 @@ import java.net.Socket; import java.util.Arrays; import java.util.Date; import java.util.List; +import java.util.stream.IntStream; import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; @@ -115,6 +117,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { StringBuffer bs1 = new StringBuffer("0"); bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp)); } + log.info("接收agv上报任务信息：" + bs); // 从字节流的开头开始读取 int offset = 0; // 循环处理字节流，逐个拆包 按照S消息解析 @@ -134,7 +137,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { int messageLength = messageHeaderLength + messageDataLength; // 检查剩余字节是否足够处理完整的数据包 if (offset + messageLength > packetData.length) { - System.out.println("错误：检测到不完整的数据包。"); +// System.out.println("错误：检测到不完整的数据包。"); + log.info("错误：检测到不完整的数据包"); // 数据包不完整，停止处理 break; } @@ -172,7 +176,6 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { if (!ObjectUtil.isEmpty(link_inst)) { link_flag = true; } - log.info("接收agv上报信息：" + bs); log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); Device device = null; String device_code = null; @@ -237,15 +240,35 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { if (!ObjectUtil.isEmpty(data)) { write(data); } - + // 更新偏移量，继续处理下一个数据包 + offset+=messageLength; } else { - System.out.println("agv上报不是0073类型动作，不处理"); + log.info("agv上报不是0073类型动作，不处理"); + // 更新偏移量，继续处理下一个数据包 + offset+=messageHeaderLength; +// ArrayUtils.indexOf() + int index = IntStream.range(offset, packetData.length) + .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) + .findFirst() + .orElse(-1); + // 如果未找到，返回 -1 + if (index == -1) { + break; + }else { + offset = index; + } } - // 更新偏移量，继续处理下一个数据包 - offset+=messageLength; }else { - System.out.println("消息头无效，不处理。"); - break; + log.info("消息头无效，不处理。"); + int index = IntStream.range(offset, packetData.length) + .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) + .findFirst() + .orElse(-1); + if (index == -1) { + break; + }else { + offset = index; + } } } } diff --git a/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java b/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java new file mode 100644 index 0000000..0f15d21 --- /dev/null +++ b/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java @@ -0,0 +1,326 @@ +package org.nl.acs.auto.run; +import cn.hutool.core.util.ObjectUtil; +import lombok.extern.slf4j.Slf4j; +import org.apache.commons.lang3.ArrayUtils; +import org.nl.acs.AcsConfig; +import org.nl.acs.agv.server.NDCAgvService; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device.service.DeviceService; +import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.impl.InstructionServiceImpl; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.opc.DeviceAppService; +import org.nl.config.SpringContextHolder; +import org.nl.system.service.dict.ISysDictService; +import org.nl.system.service.lucene.LuceneExecuteLogService; +import org.nl.system.service.param.ISysParamService; +import org.nl.system.service.param.impl.SysParamServiceImpl; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.context.annotation.Lazy; +import org.springframework.stereotype.Component; + +import java.io.DataInputStream; +import java.io.DataOutputStream; +import java.io.IOException; +import java.net.Socket; +import java.util.Arrays; +import java.util.Date; +import java.util.List; +import java.util.stream.IntStream; + +import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; + + +@Slf4j +@Component +@Lazy +public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { + + Socket s; + String ip = "192.168.10.34"; + int port = 1234; + static DataOutputStream dos; + static DataInputStream dis; + private int recordTimeOut = 10000; + private Date recordTime; + String[] ERROR = new String[]{ + "货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位", + "停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位", + "抬叉停止"}; + boolean bConnected = true; + + boolean isReConnect = false; + + @Autowired + ISysParamService paramService; + @Autowired + AutoRunService autoRunService; + @Autowired + LuceneExecuteLogService luceneExecuteLogService; + @Autowired + ISysDictService dictService; + + + public TwoNDCSocketConnectionAutoRun() { + this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); + } + + public String getCode() { + return TwoNDCSocketConnectionAutoRun.class.getSimpleName(); + } + + public String getName() { + return "NDC2在线连接"; + } + + //todo NDC相关逻辑 + public void autoRun() throws IOException { + System.out.println("TwoNDCAgv链接开始"); + ISysParamService ISysParamService = SpringContextHolder.getBean(SysParamServiceImpl.class); + InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); + NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class); + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); + DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); + DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); + ip = paramService.findByCode(AcsConfig.AGVURL).getValue(); + port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT2).getValue()); + + + try { + byte[] b = new byte[1024]; + s = new Socket(ip, port); + dos = new DataOutputStream(s.getOutputStream()); + dis = new DataInputStream(s.getInputStream()); + System.out.println("NDCAgv链接成功"); + log.info("NDCAgv链接成功"); + while (bConnected) { + int count = dis.read(b); + + if (count == -1) { + break; + } + + int[] packetData = new int[count]; + StringBuffer bs = new StringBuffer(); + + for (int i = 0; i < count; i++) { + int temp = b[i]; + if (temp < 0) + temp += 256; + packetData[i] = temp; + StringBuffer bs1 = new StringBuffer("0"); + bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp)); + } + log.info("接收agv上报状态信息：" + bs); + // 从字节流的开头开始读取 + int offset = 0; + // 循环处理字节流，逐个拆包 按照S消息解析 + while (offset < packetData.length) { + if (offset + 6 > packetData.length) { + System.out.println("错误：没有足够的字节来读取长度字段。"); + break; + } + int messageHeader = packetData[offset] * 256 + packetData[offset+1]; + //检测消息头是否有效 + if (messageHeader == 0x87CD){ + //消息头长度 + int messageHeaderLength = packetData[offset+2] * 256 + packetData[offset+3]; + //消息数据长度 + int messageDataLength = packetData[offset+4] * 256 + packetData[offset+5]; + //消息总长度 + int messageLength = messageHeaderLength + messageDataLength; + // 检查剩余字节是否足够处理完整的数据包 + if (offset + messageLength > packetData.length) { +// System.out.println("错误：检测到不完整的数据包。"); + log.info("错误：检测到不完整的数据包"); + // 数据包不完整，停止处理 + break; + } + int[] arr = Arrays.copyOfRange(packetData, offset, offset+messageLength); + boolean flag = false; + if (arr[8] * 256 + arr[9] == 0x73) { + byte[] data = null; + System.out.println("接收agv上报信息：" + bs); + //执行阶段 + int phase = arr[16] * 256 + arr[17]; + // agv任务号 + int index = arr[12] * 256 + arr[13]; + //任务号 + int ikey = arr[26] * 256 + arr[27]; + //站点号 + int agvaddr = arr[18] * 256 + arr[19]; + //车号 + int carno = arr[20]; + //充电桩站点号 + int station = arr[25]; + Instruction link_inst = null; + Instruction inst = null; + List insts = null; + boolean link_flag = false; + Device agv_device = null; + if (carno != 0) { + agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); + } + if (ikey != 0) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + if (ObjectUtil.isEmpty(inst)) { + inst = instructionService.findByCode(String.valueOf(ikey)); + } + } + if (!ObjectUtil.isEmpty(link_inst)) { + link_flag = true; + } + log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); + Device device = null; + String device_code = null; + + + // + AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; + + //开始任务/上报订单号 + if (phase == 0x01) { + if (!ObjectUtil.isEmpty(inst)) { + inst.setInstruction_status("1"); + inst.setAgv_jobno(String.valueOf(index)); + inst.setSend_status("1"); + instructionService.update(inst); + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + } + } + //任务完毕 + //（无车id及状态） + else if (phase == 0x0A) { + if (!ObjectUtil.isEmpty(inst)) { + instructionService.finish(inst.getInstruction_id()); + } else { + log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!"); + } + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + log.info("指令号:{},已反馈agv任务完成!"); + } + //todo 检查协议里删除任务流程有很多个步骤，在哪体现的 + //(需要WCS反馈) + else if (phase == 0x30) { + data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0); + } + //任务删除确认 + //(需要WCS反馈) + else if (phase == 0xFF) { + + if (!ObjectUtil.isEmpty(inst)) { + if (!ObjectUtil.isEmpty(inst)) { + instructionService.cancelNOSendAgv(inst.getInstruction_id()); + } + } + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + } else { + //上报异常信息 + //（不需要WCS反馈） + if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75 || phase == 0x76 || phase == 0x77) { + device = deviceAppService.findDeviceByCode(String.valueOf(agvaddr)); + } else { + //todo NDC根据车辆编号123456进行查找特定车辆 + device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); + } + if (ObjectUtil.isNotEmpty(device)) { + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + agvNdcOneDeviceDriver.processSocket2(arr); + } + } + + } + if (!ObjectUtil.isEmpty(data)) { + write(data); + } + // 更新偏移量，继续处理下一个数据包 + offset+=messageLength; + } else { + log.info("agv上报不是0073类型动作，不处理"); + // 更新偏移量，继续处理下一个数据包 + offset+=messageHeaderLength; +// ArrayUtils.indexOf() + int index = IntStream.range(offset, packetData.length) + .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) + .findFirst() + .orElse(-1); + // 如果未找到，返回 -1 + if (index == -1) { + break; + }else { + offset = index; + } + } + }else { + log.info("消息头无效，不处理。"); + int index = IntStream.range(offset, packetData.length) + .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205) + .findFirst() + .orElse(-1); + if (index == -1) { + break; + }else { + offset = index; + } + } + } + } + + } catch (Exception e) { + System.out.println("Agv链接异常"); + log.info("Agv链接异常"); + log.error("agv连接出现异常:{}", e); + if (ObjectUtil.isNotEmpty(s)) { + s.close(); + } + System.out.println(e.getMessage()); + e.printStackTrace(); + + } finally { + + + } + + } + + + @Override + public void stop() { + super.after(); + try { + s.close(); + } catch (Exception e) { + e.printStackTrace(); + } + } + + + public static void write(byte[] b) { + try { + log.info("下发agv数据:" + Bytes2HexString(b)); + System.out.println("下发agv数据:" + Bytes2HexString(b)); + dos.write(b); + dos.flush(); + } catch (IOException e) { + // TODO Auto-generated catch block + try { + Thread.sleep(5000L); + log.error("tofix下发agv数据失败，再次下发，再次下发agv数据:" + Bytes2HexString(b) + "失败原因：" + e.getMessage()); + System.out.println("再次下发agv数据:" + Bytes2HexString(b)); + dos.write(b); + dos.flush(); + } catch (Exception e1) { + log.error("tofix下发agv数据失败，再次下发，下发agv数据:" + Bytes2HexString(b) + "失败原因：" + e1.getMessage()); + e1.printStackTrace(); + } + + } + } +} + diff --git a/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index e3f5648..54c537b 100644 --- a/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -70,10 +70,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic TaskService taskserver = SpringContextHolder.getBean(TaskService.class); private final static ThreadPoolExecutor EXECUTOR = ThreadPoolExecutorUtil.getPoll(); int agvaddr = 0; + int statusAgvaddr =0; int agvaddr_copy = 0; int weight = 0; String device_code = ""; + String status_device_code = ""; int phase = 0; + int statusPhase =0; boolean flag = false; int x = 0; //x坐标 int y = 0; //y坐标 @@ -655,32 +658,34 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info("agv进入" + device_code + ",放货完成,开始写入信号5进行安全交互,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction()); ssxDeviceDriver.writing(5); if (ssxDeviceDriver.getMode() == 4) { - log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。"); - if (ObjectUtil.isNotEmpty(task)){ - String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue(); - if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) { - FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest(); - request.setTask_id(task.getExt_task_id()); - request.setTask_code(task.getTask_code()); - request.setTask_status("2"); - request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode()); - request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName()); - String res = acsToWmsService.feedTaskStatus(request); - JSONObject result = JSONObject.parseObject(res); - if (StringUtil.isNotBlank(result.getString("status")) && "200".equals(result.getString("status"))) { - log.info("任务号" + request.getTask_code() + "开始反馈wcs任务完成状态" + "成功。"); - } else if (StringUtil.isNotBlank(result.getString("status")) && !"200".equals(result.getString("status"))){ - log.info("任务号" + request.getTask_code() + "开始反馈wcs任务完成状态" + "失败,服务器响应的失败原因为：" + result.getString("message")); - }else if (StringUtil.isNotBlank(result.getString("code")) && "500".equals(result.getString("code"))){ - log.info("任务号" + request.getTask_code() + "请求不通" + "失败,服务器响应的失败原因为：" + result.getString("message")); - return; + log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。"); + if (ObjectUtil.isNotEmpty(task)){ + String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue(); + if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) { + FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest(); + request.setTask_id(task.getExt_task_id()); + request.setTask_code(task.getTask_code()); + request.setTask_status("2"); + request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode()); + request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName()); + request.setStartLocation(task.getStart_point_code()); + request.setEndLocation(task.getNext_point_code()); + String res = acsToWmsService.feedTaskStatus(request); + JSONObject result = JSONObject.parseObject(res); + if (StringUtil.isNotBlank(result.getString("status")) && "200".equals(result.getString("status"))) { + log.info("任务号" + request.getTask_code() + "放货完成---反馈wcs任务完成状态" + "成功。"); + } else if (StringUtil.isNotBlank(result.getString("status")) && !"200".equals(result.getString("status"))){ + log.info("任务号" + request.getTask_code() + "放货完成---反馈wcs任务完成状态" + "失败,服务器响应的失败原因为：" + result.getString("message")); + }else if (StringUtil.isNotBlank(result.getString("code")) && "500".equals(result.getString("code"))){ + log.info("任务号" + request.getTask_code() + "放货完成---请求不通" + "失败,服务器响应的失败原因为：" + result.getString("message")); + return; + } } } - } - ssxDeviceDriver.writing(0); - flag = true; - data = actionComplete(index, inst, device_code, ssxDeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成"); - log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",agv开始离开。"); + ssxDeviceDriver.writing(0); + flag = true; + data = actionComplete(index, inst, device_code, ssxDeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成"); + log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",agv开始离开。"); } else { log.info("设备" + device_code + "的Mode信号未变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",尝试重新写入信号5进行安全交互"); ssxDeviceDriver.writing(5); @@ -749,6 +754,659 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } } + @LokiLog(type = LokiLogType.ACS_TO_LMS) + public void processSocket2(int[] arr) throws Exception { + status_device_code = this.getDeviceCode(); + byte[] data = null; + statusPhase = arr[16] * 256 + arr[17]; + // agv任务号 + int index = arr[12] * 256 + arr[13]; + //任务单号和其他状态信息 + int ikey = arr[26] * 256 + arr[27]; + //站点号 + statusAgvaddr = arr[18] * 256 + arr[19]; + //车号 + int carno = arr[20]; + Instruction link_inst = null; + List insts = null; + Instruction inst = null; + boolean link_flag = false; + Device agv_device = null; + if (carno != 0) { + agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); + } + if (ikey != 0) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + if (ObjectUtil.isEmpty(inst)) { + inst = instructionService.findByCode(String.valueOf(ikey)); + } + } +// if (!ObjectUtil.isEmpty(link_inst)) { +// link_flag = true; +// } + if (error != 0) { + //todo 反馈立库AGV故障信息 + sendAgvErrorStatus(inst, status_device_code, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("请求取货"))); + } +// Device device = null; +// String old_device_code = null; +// String emptyNum = null; +// String device_code = null; + + if (statusPhase == 0x67) { + //todo 故障信息 + if (arr[18] * 256 + arr[19] == 0) { + + } + FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest(); + request.setDevice_code(this.status_device_code); + request.setState("故障"); + acsToWmsService.notify(request); + data = ndcAgvService.sendAgvOneModeInst(statusPhase, index, 0, 0, 0, 0, 0); + } +// TaskDto task = new TaskDto(); +// +// if (ObjectUtil.isNotEmpty(inst)) { +// task = taskService.findById(inst.getTask_id()); +// } + +// Hj1DeviceDriver hj1DeviceDriver; +// Hj2DeviceDriver hj2DeviceDriver; +// SsxDeviceDriver ssxDeviceDriver; +// //分配 车id +// //(不需要WCS反馈) +// if (phase == 0x02) { +// inst.setCarno(String.valueOf(carno)); +// instructionService.update(inst); +// transportOrder = inst.getTask_code(); +// //车辆分配任务时 状态为1 执行中 +// task.setTask_status("1"); +// taskserver.update(task); +// logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data); +// //车辆状态归零 +// agv_status = 0; +// //到达取货点 +// //(需要WCS反馈) +// } else if (phase == 0x03) { +// if (agvaddr == 0) { +// agvaddr = agvaddr_copy; +// } +// if (agvaddr < 1) { +// logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); +// return; +// } +// device_code = deviceService.queryDeviceCodeByAddress(agvaddr); +// if (agvaddr != 0) { +// old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); +// if (StrUtil.contains(old_device_code, "-")) { +// String[] point = old_device_code.split("-"); +// device_code = point[0]; +// } else if (StrUtil.contains(old_device_code, ".")) { +// String[] point = old_device_code.split("\\."); +// device_code = point[0]; +// emptyNum = point[1]; +// } else { +// device_code = old_device_code; +// } +// } +// +// device = deviceAppService.findDeviceByCode(device_code); +// if (ObjectUtil.isEmpty(device_code)) { +// log.info(agvaddr + "对应设备号为空!"); +// logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); +// return; +// } +// //校验agv上报站点编号与指令起始点相同 +// if (ObjectUtil.isEmpty(inst)) { +// log.info("未找到编号{}对应的指令", ikey); +// logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); +// return; +// } +// // "========================================================================请求取货=================================================================================" +// agv_status = 1; +// //到达桁架1请求取货 +// if (device.getDeviceDriver() instanceof Hj1DeviceDriver) { +// hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver(); +// log.info("agv到达" + device_code + ",取货点,开始写入信号2进行进入申请,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction()); +// hj1DeviceDriver.writing(2); +// //反馈WMS请求取货 +// //sendAgvTaskStatus(inst, device_code, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("请求取货"))); +// if (hj1DeviceDriver.getMode() != 0) { +// if (hj1DeviceDriver.getAction() == 2) { +// log.info("设备" + device_code + "的Action信号已变更为2允许进入,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",agv开始进入取货。"); +// flag = true; +// data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); +// } else { +// log.info("设备" + device_code + "的Action信号未变更为2,不允许进入,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",尝试重新写入信号2进行进入申请"); +// hj1DeviceDriver.writing(2); +// log.info("设备" + device_code + "已完成信号2写入,当前信号值为：" + "Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction()); +// } +// hj1DeviceDriver.setMessage(""); +// } else { +// String message = "agv申请进入" + device_code + "，但设备Mode值为0，设备异常，请检查！"; +// agv_message = hj1DeviceDriver.getDevice_code() + message; +// hj1DeviceDriver.setMessage(message); +// log.info(message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //到达桁架2请求取货 +// if (device.getDeviceDriver() instanceof Hj2DeviceDriver) { +// hj2DeviceDriver = (Hj2DeviceDriver) device.getDeviceDriver(); +// log.info("agv到达" + device_code + ",取货点,开始写入信号7进行进入申请,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction()); +// hj2DeviceDriver.writing(7); +// //反馈WMS请求取货 +// //sendAgvTaskStatus(inst, device_code, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("请求取货"))); +// if (hj2DeviceDriver.getMode() != 0) { +// if (hj2DeviceDriver.getAction() == 2) { +// log.info("设备" + device_code + "的Action信号已变更为2允许进入,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",agv开始进入取货。"); +// flag = true; +// data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); +// } else { +// log.info("设备" + device_code + "的Action信号未变更为2,不允许进入,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",尝试重新写入信号7进行进入申请"); +// hj2DeviceDriver.writing(7); +// log.info("设备" + device_code + "已完成信号7写入,当前信号值为：" + "Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction()); +// } +// hj2DeviceDriver.setMessage(""); +// } else { +// String message = "agv申请进入" + device_code + "，但设备Mode值为0，设备异常，请检查！"; +// agv_message = hj2DeviceDriver.getDevice_code() + message; +// hj2DeviceDriver.setMessage(message); +// log.info(message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //到达输送线请求取货 +// if (device.getDeviceDriver() instanceof SsxDeviceDriver) { +// ssxDeviceDriver = (SsxDeviceDriver) device.getDeviceDriver(); +// //有货，待机，运行取货 +// log.info("agv到达取货点" + device_code + ",需满足取货条件：Mode:1,Move:1,Action:1,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction()); +// if (ssxDeviceDriver.getMove() == 1 & ssxDeviceDriver.getMode() == 1 & ssxDeviceDriver.getAction() == 1) { +// log.info("agv到达取货点" + device_code + ",满足取货条件,开始取货,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction()); +// inst.setExecute_status("1"); +// instructionService.update(inst); +// data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); +// ssxDeviceDriver.setMessage(""); +// flag = true; +// } else { +// String message = ""; +// if (ssxDeviceDriver.getAction() != 1) { +// message += "设备Action不为1,不允许取放货,设备异常,请检查!"; +// } else if (ssxDeviceDriver.getMode() != 1) { +// message += "设备工作模式不为待机,无法取放货,请检查!"; +// } else if (ssxDeviceDriver.getMove() == 0) { +// message += "设备光电信号为0,站点无货,请检查!"; +// } +// ssxDeviceDriver.setMessage(message); +// agv_message = ssxDeviceDriver.getDevice_code() + message; +// logServer.deviceExecuteLog(device_code, "", "", message); +// log.info(device_code + message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //到达普通站点 +// if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { +// log.info("到达{}取货点开始取货", device_code); +// inst.setExecute_status("1"); +// instructionService.update(inst); +// data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); +// flag = true; +// } +// if (flag) { +// // log.info("==================允许AGV取货=================="); +// // logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。"); +// //log.info("{},{}", device_code, "允许AGV取货。"); +// // lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV取货。")); +// } +// //到达取货等待点 +// //(需要WCS反馈) +// } else if (phase == 0x04) { +// data = getData(data, index, inst, task); +// //取货完毕 +// //(需要WCS反馈) +// } else if (phase == 0x05) { +// if (agvaddr == 0) { +// agvaddr = agvaddr_copy; +// } +// if (agvaddr < 1) { +// logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); +// return; +// } +// if (agvaddr != 0) { +// old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); +// if (StrUtil.contains(old_device_code, "-")) { +// String[] point = old_device_code.split("-"); +// device_code = point[0]; +// } else if (StrUtil.contains(old_device_code, ".")) { +// String[] point = old_device_code.split("\\."); +// device_code = point[0]; +// emptyNum = point[1]; +// } else { +// device_code = old_device_code; +// } +// } +// device = deviceAppService.findDeviceByCode(device_code); +// if (ObjectUtil.isEmpty(device_code)) { +// log.info(agvaddr + "对应设备号为空!"); +// logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code); +// return; +// } +// //校验agv上报站点编号与指令起始点相同 +// if (ObjectUtil.isEmpty(inst)) { +// log.info("未找到关联编号{}对应的指令", ikey); +// logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); +// return; +// } +//// "========================================================================取货完成=================================================================================" +// //反馈车辆动作 +// agv_status = 2; +// //到达桁架1取货完成 +// if (device.getDeviceDriver() instanceof Hj1DeviceDriver) { +// hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver(); +// if (hj1DeviceDriver.getMode() != 0) { +// log.info("agv进入" + device_code + ",取货完成,开始写入信号3进行安全交互,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction()); +// hj1DeviceDriver.writing(3); +// if (hj1DeviceDriver.getMode() == 3) { +// flag = true; +// log.info("设备" + device_code + "的Mode信号已变更为3,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",开始写入0清除mode信号。"); +// hj1DeviceDriver.writing(0); +// data = actionComplete(index, inst, device_code, hj1DeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成"); +// log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",agv开始离开。"); +// } else { +// log.info("设备" + device_code + "的Mode信号未变更为3,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",尝试重新写入信号3进行安全交互"); +// hj1DeviceDriver.writing(3); +// log.info("设备" + device_code + "已完成信号3写入,当前信号值为：" + "Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction()); +// } +// hj1DeviceDriver.setMessage(""); +// } else { +// String message = "agv已取货完成，但设备Mode值为0，设备异常，请检查！"; +// agv_message = hj1DeviceDriver.getDevice_code() + message; +// hj1DeviceDriver.setMessage(message); +// log.info(message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //到达桁架2取货完成 +// if (device.getDeviceDriver() instanceof Hj2DeviceDriver) { +// hj2DeviceDriver = (Hj2DeviceDriver) device.getDeviceDriver(); +// if (hj2DeviceDriver.getMode() != 0) { +// log.info("agv进入" + device_code + ",取货完成,开始写入信号3进行安全交互,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction()); +// hj2DeviceDriver.writing(3); +// if (hj2DeviceDriver.getMode() == 3) { +// flag = true; +// log.info("设备" + device_code + "的Mode信号已变更为3,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",开始写入0清除mode信号。"); +// hj2DeviceDriver.writing(0); +// data = actionComplete(index, inst, device_code, hj2DeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成"); +// log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",agv开始离开。"); +// } else { +// log.info("设备" + device_code + "的Mode信号未变更为3,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",尝试重新写入信号3进行安全交互"); +// hj2DeviceDriver.writing(3); +// log.info("设备" + device_code + "已完成信号3写入,当前信号值为：" + "Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction()); +// } +// hj2DeviceDriver.setMessage(""); +// } else { +// String message = "agv已取货完成，但设备Mode值为0，设备异常，请检查！"; +// agv_message = hj2DeviceDriver.getDevice_code() + message; +// hj2DeviceDriver.setMessage(message); +// log.info(message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //到达输送线取货完成 +// if (device.getDeviceDriver() instanceof SsxDeviceDriver) { +// ssxDeviceDriver = (SsxDeviceDriver) device.getDeviceDriver(); +// if (ssxDeviceDriver.getMode() != 0) { +// log.info("agv进入" + device_code + ",取货完成,开始写入信号3进行安全交互,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction()); +// ssxDeviceDriver.writing(3); +// if (ssxDeviceDriver.getMode() == 3) { +// flag = true; +// log.info("设备" + device_code + "的Mode信号已变更为3,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。"); +// ssxDeviceDriver.writing(0); +// data = actionComplete(index, inst, device_code, ssxDeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成"); +// log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",agv开始离开。"); +// } else { +// log.info("设备" + device_code + "的Mode信号未变更为3,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",尝试重新写入信号3进行安全交互"); +// ssxDeviceDriver.writing(3); +// log.info("设备" + device_code + "已完成信号3写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction()); +// } +// ssxDeviceDriver.setMessage(""); +// } else { +// String message = "agv取货完成写入信号3安全交互失败，设备允许模式mode值为0，设备异常，请检查！"; +// agv_message = ssxDeviceDriver.getDevice_code() + message; +// ssxDeviceDriver.setMessage(message); +// log.info(message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //到达普通站点取货完成 +// if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { +// data = actionComplete(index, inst, device_code, 0, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成"); +// log.info("agv进入" + device_code + "取货完成"); +// flag = true; +// } +// //到达放货等待点 +// //(需要WCS反馈) +// } else if (phase == 0x06) { +// data = getData(data, index, inst, task); +// //到达放货点 +// //(需要WCS反馈) +// } else if (phase == 0x07) { +// if (agvaddr == 0) { +// agvaddr = agvaddr_copy; +// } +// if (agvaddr < 1) { +// logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); +// return; +// } +// if (agvaddr != 0) { +// old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); +// if (StrUtil.contains(old_device_code, "-")) { +// String[] point = old_device_code.split("-"); +// device_code = point[0]; +// } else if (StrUtil.contains(old_device_code, ".")) { +// String[] point = old_device_code.split("\\."); +// device_code = point[0]; +// emptyNum = point[1]; +// } else { +// device_code = old_device_code; +// } +// } +// device = deviceAppService.findDeviceByCode(device_code); +// if (ObjectUtil.isEmpty(device_code) && !device_code.equals("0")) { +// log.info(agvaddr + "对应设备号为空!"); +// return; +// } +// //校验agv上报站点编号与指令起始点相同 +// if (ObjectUtil.isEmpty(inst)) { +// log.info("未找到关联编号{}对应的指令", ikey); +// return; +// } +//// "========================================================================请求放货=================================================================================" +// agv_status = 3; +// if (inst != null && !"3".equals(inst.getExecute_status())) { +// inst.setExecute_status("3"); +// instructionService.update(inst); +// } +// //到达桁架1请求放货 +// if (device.getDeviceDriver() instanceof Hj1DeviceDriver) { +// hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver(); +// hj1DeviceDriver.writing(2); +// log.info("agv到达" + device_code + ",放货点,开始写入信号2进行进入申请,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction()); +// //反馈WMS请求放货 +// //sendAgvTaskStatus(inst, device_code, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("请求取货"))); +// if (hj1DeviceDriver.getMode() != 0 && hj1DeviceDriver.getMove() == 0) { +// if (hj1DeviceDriver.getAction() == 3) { +// log.info("设备" + device_code + "的Action信号已变更为3允许进入,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",agv开始进入放货。"); +// flag = true; +// data = getData(data, index, inst, task); +// } else { +// log.info("设备" + device_code + "的Action信号未变更为3,不允许进入,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",尝试重新写入信号2进行进入申请"); +// hj1DeviceDriver.writing(2); +// log.info("设备" + device_code + "已完成信号2写入,当前信号值为：" + "Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction()); +// //反馈WMS请求放货 +// //sendAgvTaskStatus(inst, device_code, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("请求取货"))); +// } +// hj1DeviceDriver.setMessage(""); +// } else { +// String message = ""; +// if (hj1DeviceDriver.getMode() == 0) { +// message += "设备Mode值为0，设备异常，请检查！"; +// } else { +// message += "设备光电信号不为0，站点有货，请检查！"; +// } +// message += "不允许AGV放货。"; +// agv_message = hj1DeviceDriver.getDevice_code() + message; +// hj1DeviceDriver.setMessage(message); +// logServer.deviceExecuteLog(device_code, "", "", message); +// log.info(device_code + message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //到达桁架2请求放货 +// if (device.getDeviceDriver() instanceof Hj2DeviceDriver) { +// hj2DeviceDriver = (Hj2DeviceDriver) device.getDeviceDriver(); +// hj2DeviceDriver.writing(7); +// log.info("agv到达" + device_code + ",放货点,开始写入信号7进行进入申请,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction()); +// //反馈WMS请求放货 +// //sendAgvTaskStatus(inst, device_code, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("请求取货"))); +// if (hj2DeviceDriver.getMode() != 0 && hj2DeviceDriver.getMove() == 0) { +// if (hj2DeviceDriver.getAction() == 3) { +// log.info("设备" + device_code + "的Action信号已变更为3允许进入,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",agv开始进入放货。"); +// flag = true; +// data = getData(data, index, inst, task); +// } else { +// log.info("设备" + device_code + "的Action信号未变更为3,不允许进入,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",尝试重新写入信号7进行进入申请"); +// hj2DeviceDriver.writing(7); +// log.info("设备" + device_code + "已完成信号7写入,当前信号值为：" + "Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction()); +// //反馈WMS请求放货 +// //sendAgvTaskStatus(inst, device_code, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("请求取货"))); +// } +// hj2DeviceDriver.setMessage(""); +// } else { +// String message = ""; +// if (hj2DeviceDriver.getMode() == 0) { +// message += "设备Mode值为0，设备异常，请检查！"; +// } else { +// message += "设备光电信号不为0，站点有货，请检查！"; +// } +// message += "不允许AGV放货。"; +// agv_message = hj2DeviceDriver.getDevice_code() + message; +// hj2DeviceDriver.setMessage(message); +// logServer.deviceExecuteLog(device_code, "", "", message); +// log.info(device_code + message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //输送线到达放货点 +// if (device.getDeviceDriver() instanceof SsxDeviceDriver) { +// ssxDeviceDriver = (SsxDeviceDriver) device.getDeviceDriver(); +// log.info("agv到达" + device_code + "放货点,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",准备执行放货"); +// if (ssxDeviceDriver.getMove() == 0 & ssxDeviceDriver.getMode() == 1 & ssxDeviceDriver.getAction() == 1) { +//// if (inst != null) { +//// inst.setExecute_status("3"); +//// instructionService.update(inst); +//// } +// data = getData(data, index, inst, task); +// ssxDeviceDriver.setMessage(""); +// flag = true; +// } else { +// String message = ""; +// message += "放货失败,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",不满足放货条件Mode:1,Move:0,Action:1"; +// ssxDeviceDriver.setMessage(message); +// agv_message = ssxDeviceDriver.getDevice_code() + message; +// logServer.deviceExecuteLog(device_code, "", "", message); +// log.info(message); +// lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message)); +// } +// } +// //普通站点 +// if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { +// log.info("到达{}放货点", device_code); +// data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); +// flag = true; +// } +// if (flag) { +// // log.info("==================允许AGV放货=================="); +// // logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。"); +// // log.info("{},{}", device_code, "允许AGV放货。"); +// // lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV放货。")); +// } +// //放货完毕 +// //(需要WCS反馈) +// } else if (phase == 0x09) { +// if (agvaddr == 0) { +// agvaddr = agvaddr_copy; +// } +// if (agvaddr < 1) { +// logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); +// return; +// } +// if (agvaddr != 0) { +// old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); +// if (StrUtil.contains(old_device_code, "-")) { +// String[] point = old_device_code.split("-"); +// device_code = point[0]; +// } else if (StrUtil.contains(old_device_code, ".")) { +// String[] point = old_device_code.split("\\."); +// device_code = point[0]; +// emptyNum = point[1]; +// } else { +// device_code = old_device_code; +// } +// } +// device = deviceAppService.findDeviceByCode(device_code); +// if (ObjectUtil.isEmpty(device_code)) { +// log.info(agvaddr + "对应设备号为空!"); +// return; +// } +// +// //校验agv上报站点编号与指令起始点相同 +// if (ObjectUtil.isEmpty(inst)) { +// log.info("未找到编号{}对应的指令", ikey); +// return; +// } +// transportOrder = ""; +//// "========================================================================放货完成=================================================================================" +// agv_status = 4; +// //到达桁架1放货完成 +// if (device.getDeviceDriver() instanceof Hj1DeviceDriver) { +// hj1DeviceDriver = (Hj1DeviceDriver) device.getDeviceDriver(); +// log.info("agv进入" + device_code + ",放货完成,开始写入信号5进行安全交互,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction()); +// hj1DeviceDriver.writing(5); +// if (hj1DeviceDriver.getMode() == 4) { +// log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",开始写入0清除mode信号。"); +// hj1DeviceDriver.writing(0); +// flag = true; +// data = actionComplete(index, inst, device_code, hj1DeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成"); +// log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",agv开始离开。"); +// } else { +// log.info("设备" + device_code + "的Mode信号未变更为4,当前信号值为：Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction() + ",尝试重新写入信号5进行安全交互"); +// hj1DeviceDriver.writing(5); +// log.info("设备" + device_code + "已完成信号5写入,当前信号值为：" + "Mode:" + hj1DeviceDriver.getMode() + ",Move:" + hj1DeviceDriver.getMove() + ",Action:" + hj1DeviceDriver.getAction()); +// } +// hj1DeviceDriver.setMessage(""); +// } +// //到达桁架2放货完成 +// if (device.getDeviceDriver() instanceof Hj2DeviceDriver) { +// hj2DeviceDriver = (Hj2DeviceDriver) device.getDeviceDriver(); +// log.info("agv进入" + device_code + ",放货完成,开始写入信号5进行安全交互,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction()); +// hj2DeviceDriver.writing(5); +// if (hj2DeviceDriver.getMode() == 4) { +// log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",开始写入0清除mode信号。"); +// hj2DeviceDriver.writing(0); +// flag = true; +// data = actionComplete(index, inst, device_code, hj2DeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成"); +// log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",agv开始离开。"); +// } else { +// log.info("设备" + device_code + "的Mode信号未变更为4,当前信号值为：Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction() + ",尝试重新写入信号5进行安全交互"); +// hj2DeviceDriver.writing(5); +// log.info("设备" + device_code + "已完成信号5写入,当前信号值为：" + "Mode:" + hj2DeviceDriver.getMode() + ",Move:" + hj2DeviceDriver.getMove() + ",Action:" + hj2DeviceDriver.getAction()); +// } +// hj2DeviceDriver.setMessage(""); +// } +// //到达输送线放货完成 +// if (device.getDeviceDriver() instanceof SsxDeviceDriver) { +// ssxDeviceDriver = (SsxDeviceDriver) device.getDeviceDriver(); +// log.info("agv进入" + device_code + ",放货完成,开始写入信号5进行安全交互,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction()); +// ssxDeviceDriver.writing(5); +// if (ssxDeviceDriver.getMode() == 4) { +// log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。"); +//// if (ObjectUtil.isNotEmpty(task)){ +//// String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue(); +//// if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) { +//// FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest(); +//// request.setTask_id(task.getExt_task_id()); +//// request.setTask_code(task.getTask_code()); +//// request.setTask_status("2"); +//// request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode()); +//// request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName()); +//// request.setStartLocation(task.getStart_point_code()); +//// request.setEndLocation(task.getNext_point_code()); +//// String res = acsToWmsService.feedTaskStatus(request); +//// JSONObject result = JSONObject.parseObject(res); +//// if (StringUtil.isNotBlank(result.getString("status")) && "200".equals(result.getString("status"))) { +//// log.info("任务号" + request.getTask_code() + "放货完成---反馈wcs任务完成状态" + "成功。"); +//// } else if (StringUtil.isNotBlank(result.getString("status")) && !"200".equals(result.getString("status"))){ +//// log.info("任务号" + request.getTask_code() + "放货完成---反馈wcs任务完成状态" + "失败,服务器响应的失败原因为：" + result.getString("message")); +//// }else if (StringUtil.isNotBlank(result.getString("code")) && "500".equals(result.getString("code"))){ +//// log.info("任务号" + request.getTask_code() + "放货完成---请求不通" + "失败,服务器响应的失败原因为：" + result.getString("message")); +//// return; +//// } +//// } +//// } +// ssxDeviceDriver.writing(0); +// flag = true; +// data = actionComplete(index, inst, device_code, ssxDeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成"); +// log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",agv开始离开。"); +// } else { +// log.info("设备" + device_code + "的Mode信号未变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",尝试重新写入信号5进行安全交互"); +// ssxDeviceDriver.writing(5); +// log.info("设备" + device_code + "已完成信号5写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction()); +// } +// ssxDeviceDriver.setMessage(""); +// } +// //agv普通站点放货完成 +// if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { +// log.info("{}放货完成", device_code); +// data = actionComplete(index, inst, device_code, 0, Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成"); +// flag = true; +// } +// if (flag) { +// //log.info("================允许AGV放货后离开================="); +// //logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。"); +// // log.info("{},{}", device_code, "允许AGV放货后离开。"); +// //lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, "允许AGV放货后离开。")); +// } +// } +// //到达位置点 +// //(需要WCS反馈) +// else if (phase == 0x64) {//param,agv货位id待定 +// //1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备 +// agvaddr = arr[18] * 256 + arr[19]; +// agvaddr_copy = agvaddr; +// data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); +// logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); +// } else if (phase == 0x50) {//进入交通灯区域 +// data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); +// logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); +// } else if (phase == 0x51) {//离开交通灯区域 +// data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); +// logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); +// } else + if (statusPhase == 0x70) { + //x坐标 + x = ikey; + } else if (statusPhase == 0x71) { + //y坐标 + y = ikey; + } else if (statusPhase == 0x72) { + //车辆角度 + angle = ikey; + } else if (statusPhase == 0x73) { + //agv电量 + electric_qty = ikey; + // 电量不足充电 + // int electric = Integer.parseInt(paramService.findByCode(AcsConfig.ELECTRIC).getValue()); + // if (electric_qty > 0 && electric_qty < electric) { + // log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.device_code, electric_qty, electric); + // ndcAgvService.charge(String.valueOf(this.agvaddr)); + // isCharge = true; + // } + } else if (statusPhase == 0x74) { + status = ikey; + } else if (statusPhase == 0x75) { + is_have = ikey; + } else if (statusPhase == 0x76) { + direction = ikey; + } else if (statusPhase == 0x77) { + distance = ikey; + } + if (!ObjectUtil.isEmpty(data)) { + logServer.deviceExecuteLog(this.status_device_code, "", "", "agvphase:" + statusPhase + "反馈:" + data); + OneNDCSocketConnectionAutoRun.write(data); + } + } + private byte[] actionComplete(int index, Instruction inst, String device_code, int to_command, int status, String action) { byte[] data; data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); diff --git a/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/feedBackTaskStatus/FeedBackTaskStatusRequest.java b/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/feedBackTaskStatus/FeedBackTaskStatusRequest.java index bd0dfd0..010ccc1 100644 --- a/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/feedBackTaskStatus/FeedBackTaskStatusRequest.java +++ b/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/feedBackTaskStatus/FeedBackTaskStatusRequest.java @@ -21,6 +21,16 @@ public class FeedBackTaskStatusRequest extends BaseRequest { */ private String task_status; + /** + * 起点 + */ + private String startLocation; + + /** + * 终点 + */ + private String endLocation; + /** * 任务类型 */ diff --git a/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index fb47afb..27ca10e 100644 --- a/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -871,6 +871,10 @@ public class TaskServiceImpl extends CommonServiceImpl impleme if (!StrUtil.startWith(dto.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) { TaskFeedbackDto feefbackdto = taskFeedbackService.findByCode(entity.getTask_code()); FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest(); + Instruction instruction = instructionService.findByTaskcode(entity.getTask_code()); + if (ObjectUtil.isNotEmpty(instruction)){ + request.setCar_no(instruction.getCarno()); + } request.setTask_code(entity.getTask_code()); request.setTask_id(entity.getExt_task_id()); request.setTask_status(dto.getTask_status()); @@ -959,6 +963,8 @@ public class TaskServiceImpl extends CommonServiceImpl impleme request.setTask_status(entity.getTask_status()); request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode()); request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName()); + request.setStartLocation(entity.getStart_point_code()); + request.setEndLocation(entity.getNext_point_code()); boolean flag = false; String resp = null; //反馈任务状态